YAKS - Yet Another Khepera Simulator, is a Khepera simulator that uses prerecorded sensor values from a real robot in order to provide simulation speeds of 3600 times reality.

It has support for the infrared sensors, light sensors, K213 vision turret, gripper arm, and more. The simulator comes with a GTK interface, a genetic algorithm (GA), and an artificial neural net (ANN).

Here are some key features of "YAKS Yet Another Khepera Simulator":
the robot simulator code and the code for ANNs and evolutionary or learning algorithms should be clearly separated modules, and it should be possible to use one without the other;
the functionality of the robot simulator part should be equivalent to that of the kepsim simulator (ONL95), whose source code had kindly been made available to use by Stefano Nolfi and Henrik Hautop Lund, and wherever possible it should be compatible to it, such that, e.g. robot environments could easily be exhanged betweeen the two simulation environments;
the simulator should offer powerful tools, comparable to those in the above simu lators, for visualization (2D though) and analysis of robot behavior and the under lying ANN mechanisms;
any graphics/visualization should, however, be completely optional and thus should not slow down the simulation of evolutionary or learning processes; it should be possible to compile and use the simulator on different system plat forms (UNIX, Linux, MS Windows);
both robot simulator and ANN library code and documentation should be made publically available on the web.